自主式水下机器人控制技术研究综述

Review on Research of Control Technology of Autonomous Underwater Vehicle

自主式水下机器人(AUV)是海洋资源勘探和开发的重要工具,AUV先进的导航与控制、通信、传感器和其他技术使得人类在认识海洋上取得了大的飞跃。控制系统是构成水下机器人的核心部件,同时也是决定水下机器人工作状态是否稳定与可靠的关键。本文首先对国内外自主式水下机器人的发展进程和研究现状进行归纳与分析,介绍了水下机器人控制技术,总结造成水下机器人不易控制的成因,并针对应用于水下机器人的主要控制技术展开系统论述。然后简述几种主要控制方法的基本原理,同时进一步对水下机器人的运动控制进行具体剖析,为合理选用水下机器人运动控制方法、设计相应控制器与构建控制系统提供了一定的参照依据。最后展望持续进步的自主式水下机器人研制技术在未来海洋开发领域的应用前景。

Autonomous underwater vehicles(AUV)are important tools for exploration and development of Marine resources.AUV’s advanced navigation and control,communications,sensors and other technologies have enabled humans to make a big leap in understanding the ocean.The control system is the core component of the underwater vehicle,which is also the key to determine whether the working state of the underwater vehicles are stable and reliable.The paper summarizes and analyzes the development process and research status of AUV at home and abroad,introduces the control technology of AUV and summarizes the causes of the difficult control of AUV.The main control technologies of AUV are systematically discussed,and the basic principles of several main control methods are briefly introduced.At the same time,the motion control of AUV are further analyzed in detail,which can provide some certain references for the selection of the operation control methods,the design of the corresponding controllers and the construction of the control system for underwater vehicle.Finally,the potential application of the continuous advancement of AUV’s development technology in the future marine development field is prospected.